add comments to writeup around settings and FPS, add FPS calc to driv…

…e_rover.py

code/drive_rover.py

@@ -72,15 +72,31 @@ def __init__(self):
         self.worldmap = np.zeros((200, 200, 3), dtype=np.float) 
         self.samples_pos = None # To store the actual sample positions
         self.samples_found = 0 # To count the number of samples found
-        self.near_sample = False # Set to True if within reach of a rock sample
-        self.pick_up = False # Set to True to trigger rock pickup
+        self.near_sample = 0 # Will be set to telemetry value data["near_sample"]
+        self.picking_up = 0 # Will be set to telemetry value data["picking_up"]
+        self.send_pickup = False # Set to True to trigger rock pickup
 # Initialize our rover 
 Rover = RoverState()
 
+# Variables to track frames per second (FPS)
+# Intitialize frame counter
+frame_counter = 0
+# Initalize second counter
+second_counter = time.time()
+
 
 # Define telemetry function for what to do with incoming data
 @sio.on('telemetry')
 def telemetry(sid, data):
+
+    global frame_counter, second_counter
+    frame_counter+=1
+    # Do a rough calculation of frames per second (FPS)
+    if (time.time() - second_counter) > 1:
+        print ("Current FPS: {}".format(frame_counter))
+        frame_counter = 0
+        second_counter = time.time()
+
     if data:
         global Rover
         # Initialize / update Rover with current telemetry
@@ -100,10 +116,10 @@ def telemetry(sid, data):
             send_control(commands, out_image_string1, out_image_string2)
 
             # If in a state where want to pickup a rock send pickup command
-            if Rover.pick_up:
+            if Rover.send_pickup:
                 send_pickup()
                 # Reset Rover flags
-                Rover.pick_up = False
+                Rover.send_pickup = False
         # In case of invalid telemetry, send null commands
         else:
 

code/supporting_functions.py

@@ -37,7 +37,9 @@ def update_rover(Rover, data):
       Rover.steer = np.float(data["steering_angle"])
       # Near sample flag
       Rover.near_sample = np.int(data["near_sample"])
-
+      # Picking up flag
+      Rover.picking_up = np.int(data["picking_up"])
+
       print('speed =',Rover.vel, 'position =', Rover.pos, 'throttle =', 
       Rover.throttle, 'steer_angle =', Rover.steer, 'near_sample', Rover.near_sample, data["picking_up"])
 

writeup_template.md

@@ -53,6 +53,8 @@ And another!
 
 #### 2. Launching in autonomous mode your rover can navigate and map autonomously.  Explain your results and how you might improve them in your writeup.  
 
+**Note: running the simulator with different choices of resolution and graphics quality may produce different results, particularly on different machines!  Make a note of your simulator settings (resolution and graphics quality set on launch) and frames per second (FPS output to terminal by `drive_rover.py`) in your writeup when you submit the project so your reviewer can reproduce your results.**
+
 Here I'll talk about the approach I took, what techniques I used, what worked and why, where the pipeline might fail and how I might improve it if I were going to pursue this project further.